ICRA 2011 Paper Abstract


Paper ThA209.2

Kwon, Young-Sik (Hanyang University), lee, bae (Doobae system co., ltd.), HWANG, IN-CHEOL (DOOBAE System Co., Ltd.), Yi, Byung-Ju (Hanyang University), Kim, Whee Kuk (Korea university)

A Flat Pipeline Inspection Robot with Two Wheel Chains

Scheduled for presentation during the Regular Sessions "New Sensing and Mechanism for Robots" (ThA209), Thursday, May 12, 2011, 10:20−10:35, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Mechanism Design of Mobile Robots, Motion and Path Planning, Kinematics


This paper presents a new pipeline inspection robot that has multiple sensors for inspection of 90-110mm pipelines. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. Compared to popularly employed pipeline robots using three wheel chains, the new design allows simple robot control and easy user interface, specially at T-branch. As another advantage, the flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation.



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